frankarobotics/libfranka

C++ client library to control Franka robots in real-time

What it solves

It provides a low-level C++ interface for controlling Franka Robotics research robots, enabling precise motion control and real-time interaction with the hardware.

How it works

The library acts as a bridge between the user's software and the robot's Franka Control Interface (FCI). It supports real-time communication and is designed to work with Linux systems, specifically recommending a PREEMPT_RT patched kernel to ensure the timing precision required for robotic control.

Who it’s for

Researchers and developers working with Franka Robotics research robots who need direct, low-level access to the robot's motion and state.

Highlights

  • Low-level control: Direct access to precise motion control.
  • Real-time communication: Capability for high-frequency, real-time interaction.
  • Multi-platform support: Compatible with Ubuntu 20.04 through 26.04 LTS.
  • Python Bindings: Includes pylibfranka for those who prefer to control the robot using Python.

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